Class 15/09/2020

Time domain analysis

➢First step in analyzing control systems is to build a mathematical model.
➢Next step is to analyze system performance →time domain or frequency domain
analysis.
Introduction
• The analysis of a control systems is done to determine the variation in output with
respect to the input.

• The response of a control system can be classified into time or frequency

domain.

• Time domain analysis: the analysis of a system that involves defining input,
output and other variables of the system as a function of time.
• It is also known as the time response of the control system.
Time Response of Control System
• It is defined as the response of the system achieved on providing certain
excitation, where the excitation and response is a function of time.
• Time response is classified as,
• Transient response
• Steady State response
Why this classification comes into picture??
• Physical system is composed of energy storing elements like capacitor, inductor
etc.,
• The presence of such elements in the system causes some delay whenever there is
any requirement for changing the energy state of the system.
• Before achieving the desired value, the output of the system fluctuates to the
nearby value.
Transient Response: 𝑪𝒕 (𝒕)
• Variation in output of the system before achieving the final value when excited
with the input signal.
• Transient response is not the actual response of the system to input excitation.
• Time taken by the system to attain the final value is known as a transient period.
• Transient response can be of either exponential or oscillatory.

Steady State Response: 𝑪𝒔𝒔 (𝒕)

• The final value of the system response , according to the input excitation applied.

𝐶 𝑡 = 𝐶𝑡 (𝑡) + 𝐶𝑠𝑠 (𝑡)

Standard test input signals
• The input signal to a control system is not known ahead of time → random in
nature.
• The instantaneous input cannot be expressed analytically.
Example : Lift control systems , Alarm systems.
• Input to these systems i.e., from sensors, limit switches, push buttons etc, may be
completely random and can come at any time or in any order.
• In some cases the input signal is known in advance and expressible analytically or
by curves.
Example : Automatic control of cutting tools.
In order to analyze & design control systems, comparison of the responses of
various systems to standard test input signals is considered.
Standard test input signals
Some of the standard test input signals,
• Step
• Ramp
• Impulse
• Parabolic
• How to select standard test input??
• Based on the form of input signal that the control system is subjected to in normal
operation.
Nature of the input Type of the test signal to be used
Gradually changing function of Ramp
time. (constant velocity)
Sudden disturbances Step
Shock inputs Impulse
Constant acceleration Parabolic
Standard test input signals

• Step signal Ramp signal Parabolic signal

• 𝑟 𝑡 =𝐴𝑢 𝑡 𝑟 𝑡 = 𝐴 𝑡 ;𝑡 > 0 𝑟 𝑡 = 𝐴𝑡 2 Τ2 ; 𝑡 > 0
• Where 𝑢 𝑡 = 1 ; 𝑡 > 0 = 0 ;𝑡 < 0 = 0 ;𝑡 < 0
• = 0 ;𝑡 < 0
• Laplace transform Laplace Transform Laplace Transform
𝐴 𝐴
• 𝑅 𝑠 = 𝐴Τ𝑆 𝑅 𝑠 = 𝑅 𝑠 =
𝑠2 𝑠3
Impulse or delta function
• The impulse function, or delta function, is a mathematical representation of a kick.
• It is an idealized kick that lasts for no time at all and has energy of exactly 1.
• One way of defining it is as the limit of a rectangular pulse function, with area 1,
as it halves in width and doubles in height.
• A unit impulse function is defined as a signal which has zero value everywhere
except t=0, where it’s magnitude is infinite.

• Two important properties;

Time response of first order systems
First order system:

𝐶(𝑠) 1
• The input output relationship is given by, =
𝑅(𝑠) 𝑇𝑠+1
• Let us analyze the responses to inputs like, the unit-step input, unit-ramp & unit-
impulse assuming zero initial conditions.
• Note : Systems having the same transfer function will exhibit the same output in
response to the same input
Unit step response
1
• Laplace transform of unit step signal 𝑅 𝑠 = ,
𝑠
𝐶(𝑠) 1
• substituting the above in the equation , = we obtain,
𝑅(𝑠) 𝑇𝑠+1
 ‘T’ is called as a time constant
Continued…
• Initially the c(t) is zero finally it reaches unity.
• At t=T, 𝑐 𝑡 = 1 − 𝑒 −1 = 0.632 𝑜𝑟 63.2% of
final value.
1
• Slope of the exponential curve at 𝑡 = 0, is .
𝑇
• If the initial speed of the response was
maintained, the output would have reached the
final value at 𝑡 = 𝑇.
• But slope of the curve decreases monotonically
1
from at 𝑡 = 0 to zero at 𝑡 = ∞.
𝑇
• Smaller the time constant T, the faster the
system response. Figure : Response curve for unit step input
• Large time constant → sluggish response
Continued…

• Mathematically steady state is achieved at 𝑡 = ∞.

• But if we observe the response curve for t ≥ 4𝑇, the response remains within 2%
of the final value.
• Response time for achieving steady state is almost four time constants.
• Error response of the system,

• Steady state error,

Thus the first order system tracks the unit step input with zero steady state error